Examples with RigidTransform3d maspack.matrix.RigidTransform3d used on opensource projects

Example 76 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class CutPlaneProbe method setOrientation.

/**
 * Sets the orientation of the display
 */
public void setOrientation(AxisAngle axisAng) {
    RigidTransform3d X = new RigidTransform3d(XGridToWorld);
    X.R.setAxisAngle(axisAng);
    setGridToWorld(X);
}

Example 77 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class CutPlaneProbe method setPosition.

/**
 * Sets the 3D position of the centre of the display
 */
public void setPosition(Point3d pos) {
    RigidTransform3d X = new RigidTransform3d(XGridToWorld);
    X.p.set(pos);
    setGridToWorld(X);
}

Example 78 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class PointDistributor method getTightOBB.

public static OBB getTightOBB(Point3d[] pnts, RigidTransform3d principal) {
    Vector3d[] axis = new Vector3d[3];
    double[][] projBounds = new double[3][2];
    for (int i = 0; i < 3; i++) {
        axis[i] = new Vector3d();
        principal.R.getColumn(i, axis[i]);
    }
    Vector3d p = principal.p;
    // loop through all nodes, projecting onto axes
    for (int i = 0; i < pnts.length; i++) {
        for (int j = 0; j < 3; j++) {
            Vector3d vec = new Vector3d();
            vec.sub(pnts[i], p);
            double d = vec.dot(axis[j]);
            if (d < projBounds[j][0]) {
                projBounds[j][0] = d;
            } else if (d > projBounds[j][1]) {
                projBounds[j][1] = d;
            }
        }
    // end looping through axes
    }
    // end looping over vertices
    // construct bounds
    Point3d c = new Point3d(0, 0, 0);
    Vector3d widths = new Vector3d();
    for (int i = 0; i < 3; i++) {
        c.set(i, 0);
        widths.set(i, projBounds[i][1] - projBounds[i][0]);
        c.set(i, p.get(i) + (projBounds[i][0] + projBounds[i][1]) / 2);
    }
    RigidTransform3d trans = new RigidTransform3d(c, principal.R);
    OBB obb = new OBB(widths, trans);
    return obb;
}

Example 79 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class PointDistributor method getSphericalMidpointCubature.

public static CubaturePoint3d[] getSphericalMidpointCubature(Point3d center, double radius, int nR, int nPhi, int nTheta, Vector3d axis) {
    CubaturePoint3d[] pnts = new CubaturePoint3d[nR * nPhi * nTheta];
    double dr = radius / nR;
    double dphi = 2 * Math.PI / nPhi;
    double dtheta = Math.PI / nTheta;
    RigidTransform3d trans = new RigidTransform3d();
    if (axis != null) {
        RotationMatrix3d R = new RotationMatrix3d();
        R.rotateZDirection(axis);
        trans.setRotation(R);
    }
    trans.setTranslation(center);
    double r, phi, theta;
    int idx = 0;
    for (int i = 0; i < nR; i++) {
        for (int j = 0; j < nPhi; j++) {
            for (int k = 0; k < nTheta; k++) {
                r = i * dr + dr / 2;
                phi = j * dphi + (i + k) * dphi / 2;
                theta = k * dtheta + dtheta / 2;
                pnts[idx] = new CubaturePoint3d();
                pnts[idx].x = r * Math.cos(phi) * Math.sin(theta);
                pnts[idx].y = r * Math.sin(phi) * Math.sin(theta);
                pnts[idx].z = r * Math.cos(theta);
                pnts[idx].w = spherePartialVolume(radius, r, dr, phi, dphi, theta, dtheta);
                // transform
                pnts[idx].transform(trans);
                idx++;
            }
        }
    }
    return pnts;
}

Example 80 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class PointDistributor method sphereGridFill.

// fills a mesh based on a regular grid of points
public static Point3d[] sphereGridFill(PolygonalMesh mesh, double r) {
    ArrayList<Point3d> pnts = new ArrayList<Point3d>();
    RigidTransform3d trans = getPrincipalAxes(mesh);
    Point3d[] box = getTightBox(mesh, trans);
    Point3d center = new Point3d(box[0]);
    center.add(box[6]);
    center.scale(0.5);
    trans.setTranslation(center);
    Vector3d l = new Vector3d(box[0]);
    l.sub(box[6]);
    l.inverseTransform(trans);
    double alpha = 2 * Math.sqrt(2) * r;
    int nx = (int) Math.ceil(l.x / alpha) + 1;
    int ny = (int) Math.ceil(l.y / alpha) + 1;
    int nz = (int) Math.ceil(l.z / alpha) + 1;
    double xoffset = -(nx - 1) * alpha / 2;
    double yoffset = -(ny - 1) * alpha / 2;
    double zoffset = -(nz - 1) * alpha / 2;
    BVTree bvh = mesh.getBVTree();
    Vector2d coords = new Vector2d();
    Point3d nearest = new Point3d();
    BVFeatureQuery query = new BVFeatureQuery();
    Point3d p;
    for (int i = 0; i < nx; i++) {
        for (int j = 0; j < ny; j++) {
            for (int k = 0; k < nz; k++) {
                double x = i * alpha + xoffset;
                double y = j * alpha + yoffset;
                double z = k * alpha + zoffset;
                p = new Point3d(x, y, z);
                p.transform(trans);
                addIfIntersects(pnts, p, r, bvh, nearest, coords, query);
            }
        }
    }
    return pnts.toArray(new Point3d[pnts.size()]);
}